David P. Anderson
The following is a description of the integration of a commercial Inertial Measurement Unit with the navigation algorithms of the jBot autonomous off-road robot. This allows the robot to navigate unstructured outdoor environments, without a GPS or other external reference, with an accuracy on the order of about .5% of the distance traveled. That is, a journey of 1000 feet has a location error on the order of 5 feet upon arrival at the destination.
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